SET(SRC_FILES
  camera.cc
  cameramodel.cc
  camerargbd.cc
  compression.cc
  sensordata.cc
  transform.cc
  camerathread.cc
  #util3d.cpp
)

SET(INCLUDE_DIRS
  #use the utilite include directory
  ${PROJECT_SOURCE_DIR}/utilite/include
  
  #corelib include directory
  ${CMAKE_CURRENT_SOURCE_DIR}/../include
  
)

SET(LIBRARIES " ")

########################
# set headers and libraries
########################
IF(EIGEN3_FOUND)
  SET(INCLUDE_DIRS ${INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR})
ENDIF(EIGEN3_FOUND)

IF(PCL_FOUND)
  SET(INCLUDE_DIRS ${INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
  SET(LIBRARIES ${LIBRARIES} ${PCL_LIBRARIES})
ENDIF()

IF(OPENCV_FOUND)
  SET(LIBRARIES ${LIBRARIES} ${OpenCV_LIBS})
ENDIF(OPENCV_FOUND)

INCLUDE_DIRECTORIES(${INCLUDE_DIRS})

ADD_LIBRARY(rgbdslam_core ${SRC_FILES})
TARGET_LINK_LIBRARIES(rgbdslam_core ${LIBRARIES})

